Blar i Institutt for teknisk kybernetikk på forfatter "Schjølberg, Ingrid"
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Attitude Estimation by Multiplicative eXogenous Kalman Filter
Stovner, Bård Nagy; Johansen, Tor Arne; Fossen, Thor I.; Schjølberg, Ingrid (Journal article, 2018)This paper presents a novel attitude estimator called the multiplicative exogenous Kalman filter. The estimator inherits the stability properties of a nonlinear observer and the near-optimal steady-state performance of the ... -
Autonomous subsea intervention (SEAVENTION)
Transeth, Aksel Andreas; Schjølberg, Ingrid; Lekkas, Anastasios; Risholm, Petter; Mohammed, Ahmed Kedir; Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Bjerkeng, Magnus Christian; Tsiourva, Maria Efstathia; Py, Frédéric (Peer reviewed; Journal article, 2022)This paper presents the main results and latest developments in a 4-year project called autonomous subsea intervention (SEAVENTION). In the project we have developed new methods for autonomous inspection, maintenance and ... -
Constrained multi-body dynamics for modular underwater robots — Theory and experiments
Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens; Schjølberg, Ingrid (Journal article, 2018)This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most ... -
Efficient Modelling Methodology for Reconfigurable Underwater Robots
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically ... -
Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed
Jørgensen, Erlend Kvinge; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)This paper considers the problem of constructing a globally convergent position-and velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range ... -
Experimental validation of attitude and rate-sensor bias filter using range-difference measurements
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Schjølberg, Ingrid; Esperanca, Paulo TT (Peer reviewed; Journal article, 2018)This paper considers the problem of constructing a filter for estimating attitude and rate-sensor bias, that has both proven stability and close-to-optimal performance with respect to noise. The filter is based on measuring ... -
Globally Exponentially Stable Aided Inertial Navigation with hydroacoustic Measurements from A Single Transponder
Stovner, Bård Bakken; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2017)This paper provides a novel formulation relating underwater range measurements to body-fixed position when several acoustic transceivers are mounted on the vehicle and only one transponder is placed in the vehicle's ... -
Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder
Stovner, Bård Nagy; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2018)This paper presents two novel globally exponentially stable position estimators using hydroacoustic measurements from a single transponder to several transceivers on the vehicle. A comparison study of these and several ... -
Modular Underwater Robots: Modeling and Docking Control
Nielsen, Mikkel Cornelius (Doctoral theses at NTNU;2018:167, Doctoral thesis, 2018)The objective of this thesis is to investigate the modeling and control of modular underwater robots. This objective is motivated by recent events in the offshore industry, where innovative solutions are needed to cope ... -
On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems
From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I. (Journal article; Peer reviewed, 2012)This paper addresses the boundedness property of the inertia matrix and the skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in control theory and Lyapunov-based ... -
Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents
Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid (Journal article; Peer reviewed, 2014)This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ... -
Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Bryne, Torleiv Håland; Schjølberg, Ingrid (Peer reviewed; Journal article, 2019)This article considers the problem of constructing an observer for estimating position, velocity, attitude, underwater wave speed, rate sensor bias, and accelerometer bias that has both proven stability and close-to-optimal ... -
Validation of multi-body modelling methodology for reconfigurable underwater robots
Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens; Schjølberg, Ingrid (Chapter; Peer reviewed, 2016)This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically ... -
Velferdsteknologi i boliger. Muligheter og utfordringer
Aspnes, Espen; Ausen, Dag; Høyland, Karin; Mikalsen, Marius; Steen-Hansen, Anne Elise; Storesund, Karolina; Schjølberg, Ingrid; Svagård, Ingrid Storruste; Walderhaug, Ståle (SINTEF Rapport;A23938, Research report, 2012)Målsettingen med denne rapporten er å belyse og diskutere muligheter og utfordringer med implementering av velferdsteknologi knyttet til boligløsninger og det å klare seg godt i egen bolig. Utvikling og implementering av ...